#include "ros/ros.h"
#include "unitree_legged_msgs/LowCmd.h"
#include "unitree_legged_msgs/LowState.h"
#include "unitree_legged_msgs/HighState.h"
#define PosStopF (2.146E+9f)
#define VelStopF (16000.f)


extern ros::Publisher servo_pub[12];
extern unitree_legged_msgs::LowCmd lowCmd;
extern unitree_legged_msgs::LowState lowState;